Fixes broken hyperlinks in the documentation (#524)

# Description

This MR updates broken links in the documentation and code references.

## Checklist

- [x] I have run the [`pre-commit` checks](https://pre-commit.com/) with
`./isaaclab.sh --format`
- [x] I have made corresponding changes to the documentation
- [x] My changes generate no new warnings
- [ ] I have added tests that prove my fix is effective or that my
feature works
- [x] I have run all the tests with `./isaaclab.sh --test` and they pass
- [ ] I have updated the changelog and the corresponding version in the
extension's `config/extension.toml` file
- [x] I have added my name to the `CONTRIBUTORS.md` or my name already
exists there

docs/source/deployment/cluster.rst

@@ -174,6 +174,6 @@ The above will, in addition, also render videos of the training progress and sto
 .. _Singularity: https://docs.sylabs.io/guides/2.6/user-guide/index.html
 .. _ETH Zurich Euler: https://scicomp.ethz.ch/wiki/Euler
 .. _apptainer: https://apptainer.org/
-.. _documentation: www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages
-.. _SLURM documentation: www.slurm.schedmd.com/sbatch.html
+.. _documentation: https://www.apptainer.org/docs/admin/main/installation.html#install-ubuntu-packages
+.. _SLURM documentation: https://www.slurm.schedmd.com/sbatch.html
 .. _forum post: https://forums.docker.com/t/trouble-after-upgrade-to-docker-ce-25-0-1-on-debian-12/139613

docs/source/how-to/import_new_asset.rst

@@ -169,7 +169,7 @@ of gravity.
 
 
 .. _instanceable: https://openusd.org/dev/api/_usd__page__scenegraph_instancing.html
-.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_gym_tutorials/tutorial_gym_instanceable_assets.html
+.. _documentation: https://docs.omniverse.nvidia.com/isaacsim/latest/isaac_lab_tutorials/tutorial_instanceable_assets.html
 .. _MJCF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_mjcf.html
 .. _URDF importer: https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_import_urdf.html
 .. _anymal.urdf: https://github.com/isaac-orbit/anymal_d_simple_description/blob/master/urdf/anymal.urdf

docs/source/how-to/master_omniverse.rst

@@ -54,7 +54,7 @@ Using Omniverse USD Composer
 Materials and MDL
 
 -  `Five Things to Know About Materials in NVIDIA Omniverse <https://youtu.be/C0HmcQXaENc>`__
--  `How to apply materials? <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html%23applying-materials>`__
+-  `How to apply materials? <https://docs.omniverse.nvidia.com/materials-and-rendering/latest/materials.html#applying-materials>`__
 
 Omniverse Physics and PhysX SDK
 
@@ -120,5 +120,5 @@ Part 3: More Resources
 - `Omniverse Glossary of Terms <https://docs.omniverse.nvidia.com/isaacsim/latest/common/glossary-of-terms.html>`__
 - `Omniverse Code Samples <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref.html>`__
 - `PhysX Collider Compatibility <https://docs.omniverse.nvidia.com/extensions/latest/ext_physics/rigid-bodies.html#collidercompatibility>`__
-- `PhysX Limitations <https://docs.omniverse.nvidia.com/isaacsim/latest/features/physics/physX_limitations.html>`__
+- `PhysX Limitations <https://docs.omniverse.nvidia.com/isaacsim/latest/simulation_fundamentals.html#omni-physics-and-physx-limitations>`__
 - `PhysX Documentation <https://nvidia-omniverse.github.io/PhysX/physx/>`__.

docs/source/migration/migrating_from_isaacgymenvs.rst

@@ -231,7 +231,7 @@ The terrain can then be added to the scene in ``_setup_scene(self)`` by referenc
 Actors
 ------
 
-Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) <https://github.com/PixarAnimationStudios/OpenUSD>`_ library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer tools described in the `Importing a New Asset <../../how-to/import_new_asset.rst>`_ tutorial.
+Isaac Lab and Isaac Sim both use the `USD (Universal Scene Description) <https://github.com/PixarAnimationStudios/OpenUSD>`_ library for describing the scene. Assets defined in MJCF and URDF formats can be imported to USD using importer tools described in the `Importing a New Asset <../how-to/import_new_asset.html>`_ tutorial.
 
 Each Articulation and Rigid Body actor can also have its own config class. The :class:`~omni.isaac.lab.assets.ArticulationCfg` can be
 used to define parameters for articulation actors, including file path, simulation parameters, actuator properties, and initial states.

docs/source/migration/migrating_from_orbit.rst

@@ -93,7 +93,7 @@ have been renamed to ``--enable_cameras`` and ``ENABLE_CAMERAS`` respectively.
 Event term distribution configuration
 -------------------------------------
 
-Some of the event functions in `events.py <https://github.com/isaac-sim/IsaacLab/blob/isaac-lab/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py>`_
+Some of the event functions in `events.py <https://github.com/isaac-sim/IsaacLab/blob/main/source/extensions/omni.isaac.lab/omni/isaac/lab/envs/mdp/events.py>`_
 accepted a ``distribution`` parameter and a ``range`` to sample from. In an effort to support arbitrary distributions,
 we have renamed the input argument ``AAA_range`` to ``AAA_distribution_params`` for these functions.
 Therefore, event term configurations whose functions have a ``distribution`` argument should be updated. For example,

docs/source/refs/license.rst

@@ -7,7 +7,7 @@ NVIDIA Isaac Sim is available freely under `individual license
 <https://www.nvidia.com/en-us/omniverse/download/>`_. For more information
 about its license terms, please check `here <https://docs.omniverse.nvidia.com/app_isaacsim/common/NVIDIA_Omniverse_License_Agreement.html#software-support-supplement>`_.
 The license files for all its dependencies and included assets are available in its
-`documentation <https://docs.omniverse.nvidia.com/app_isaacsim/common/licenses.html>`_.
+`documentation <https://docs.omniverse.nvidia.com/isaacsim/latest/common/licenses.html>`_.
 
 
 The Isaac Lab framework is open-sourced under the

docs/source/setup/developer.rst

@@ -11,6 +11,7 @@ using VSCode.
 Setting up Visual Studio Code
 -----------------------------
 
+The following is only applicable for Isaac Sim installed via the Omniverse Launcher.
 The ``Isaac Lab`` repository includes the VSCode settings to easily allow setting
 up your development environment. These are included in the ``.vscode`` directory
 and include the following files:
@@ -50,7 +51,7 @@ For more information on VSCode support for Omniverse, please refer to the
 following links:
 
 * `Isaac Sim VSCode support <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/manual_standalone_python.html#isaac-sim-python-vscode>`__
-* `Debugging with VSCode <https://docs.omniverse.nvidia.com/app_isaacsim/app_isaacsim/tutorial_advanced_python_debugging.html>`__
+* `Debugging with VSCode <https://docs.omniverse.nvidia.com/isaacsim/latest/advanced_tutorials/tutorial_advanced_python_debugging.html>`__
 
 
 Configuring the python interpreter

docs/source/setup/faq.rst

@@ -82,6 +82,6 @@ to Isaac Lab, please reach out to us.
 .. _Isaac Gym: https://developer.nvidia.com/isaac-gym
 .. _IsaacGymEnvs: https://github.com/isaac-sim/IsaacGymEnvs
 .. _OmniIsaacGymEnvs: https://github.com/isaac-sim/OmniIsaacGymEnvs
-.. _Orbit: https://isaac-orbit.github.io/orbit
+.. _Orbit: https://isaac-orbit.github.io/
 .. _Isaac Automator: https://github.com/isaac-sim/IsaacAutomator
 .. _migration guides: ../migration/index.html

docs/source/setup/sample.rst

@@ -122,7 +122,7 @@ Imitation Learning
 
 Using the teleoperation devices, it is also possible to collect data for
 learning from demonstrations (LfD). For this, we support the learning
-framework `Robomimic <https://robomimic.github.io/>`__ and allow saving
+framework `Robomimic <https://robomimic.github.io/>`__ (Linux only) and allow saving
 data in
 `HDF5 <https://robomimic.github.io/docs/tutorials/dataset_contents.html#viewing-hdf5-dataset-structure>`__
 format.

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se2_gamepad.py

@@ -35,7 +35,7 @@ class Se2Gamepad(DeviceBase):
 
     .. seealso::
 
-        The official documentation for the gamepad interface: `Carb Gamepad Interface <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html#carb.input.Gamepad>`__.
+        The official documentation for the gamepad interface: `Carb Gamepad Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html>`__.
 
     """
 
@@ -111,7 +111,7 @@ class Se2Gamepad(DeviceBase):
         """Add additional functions to bind gamepad.
 
         A list of available gamepad keys are present in the
-        `carb documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html#carb.input.GamepadInput>`__.
+        `carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html>`__.
 
         Args:
             key: The gamepad button to check against.
@@ -136,7 +136,7 @@ class Se2Gamepad(DeviceBase):
         """Subscriber callback to when kit is updated.
 
         Reference:
-            https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=gamepadeventtype#carb.input.GamepadInput
+            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html
         """
 
         # check if the event is a button press

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/gamepad/se3_gamepad.py

@@ -43,7 +43,7 @@ class Se3Gamepad(DeviceBase):
 
     .. seealso::
 
-        The official documentation for the gamepad interface: `Carb Gamepad Interface <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html#carb.input.Gamepad>`__.
+        The official documentation for the gamepad interface: `Carb Gamepad Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html>`__.
 
     """
 
@@ -118,7 +118,7 @@ class Se3Gamepad(DeviceBase):
         """Add additional functions to bind gamepad.
 
         A list of available gamepad keys are present in the
-        `carb documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=gamepadeventtype#carb.input.GamepadInput>`__.
+        `carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html>`__.
 
         Args:
             key: The gamepad button to check against.
@@ -150,7 +150,7 @@ class Se3Gamepad(DeviceBase):
         """Subscriber callback to when kit is updated.
 
         Reference:
-            https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=gamepadeventtype#carb.input.Gamepad
+            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/gamepad.html
         """
         # check if the event is a button press
         cur_val = event.value

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se2_keyboard.py

@@ -35,7 +35,7 @@ class Se2Keyboard(DeviceBase):
 
     .. seealso::
 
-        The official documentation for the keyboard interface: `Carb Keyboard Interface <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html#carb.input.Keyboard>`__.
+        The official documentation for the keyboard interface: `Carb Keyboard Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__.
 
     """
 
@@ -98,7 +98,7 @@ class Se2Keyboard(DeviceBase):
         """Add additional functions to bind keyboard.
 
         A list of available keys are present in the
-        `carb documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput>`__.
+        `carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__.
 
         Args:
             key: The keyboard button to check against.
@@ -123,7 +123,7 @@ class Se2Keyboard(DeviceBase):
         """Subscriber callback to when kit is updated.
 
         Reference:
-            https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput
+            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html
         """
         # apply the command when pressed
         if event.type == carb.input.KeyboardEventType.KEY_PRESS:

source/extensions/omni.isaac.lab/omni/isaac/lab/devices/keyboard/se3_keyboard.py

@@ -43,7 +43,7 @@ class Se3Keyboard(DeviceBase):
 
     .. seealso::
 
-        The official documentation for the keyboard interface: `Carb Keyboard Interface <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html#carb.input.Keyboard>`__.
+        The official documentation for the keyboard interface: `Carb Keyboard Interface <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__.
 
     """
 
@@ -108,7 +108,7 @@ class Se3Keyboard(DeviceBase):
         """Add additional functions to bind keyboard.
 
         A list of available keys are present in the
-        `carb documentation <https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput>`__.
+        `carb documentation <https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html>`__.
 
         Args:
             key: The keyboard button to check against.
@@ -136,7 +136,7 @@ class Se3Keyboard(DeviceBase):
         """Subscriber callback to when kit is updated.
 
         Reference:
-            https://docs.omniverse.nvidia.com/kit/docs/carbonite/latest/docs/python/carb.html?highlight=keyboardeventtype#carb.input.KeyboardInput
+            https://docs.omniverse.nvidia.com/dev-guide/latest/programmer_ref/input-devices/keyboard.html
         """
         # apply the command when pressed
         if event.type == carb.input.KeyboardEventType.KEY_PRESS:

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/simulation_context.py

@@ -243,7 +243,7 @@ class SimulationContext(_SimulationContext):
 
         For more information, please check `NVIDIA RTX documentation`_.
 
-        .. _NVIDIA RTX documentation: https://www.nvidia.com/design-visualization/solutions/rendering/
+        .. _NVIDIA RTX documentation: https://developer.nvidia.com/rendering-technologies
         """
         return self._settings.get_as_bool("/isaaclab/render/rtx_sensors")
 

source/extensions/omni.isaac.lab/omni/isaac/lab/sim/spawners/lights/__init__.py

@@ -7,7 +7,7 @@
 
 There are various different kinds of lights that can be spawned into the USD stage.
 Please check the Omniverse documentation for `lighting overview
-<https://docs.omniverse.nvidia.com/materials-and-rendering/latest/103/lighting.html>`_.
+<https://docs.omniverse.nvidia.com/materials-and-rendering/latest/lighting.html>`_.
 """
 
 from .lights import spawn_light

source/extensions/omni.isaac.lab/omni/isaac/lab/utils/math.py

@@ -499,9 +499,6 @@ def quat_box_minus(q1: torch.Tensor, q2: torch.Tensor) -> torch.Tensor:
 
     Returns:
         The difference between the two quaternions. Shape is (N, 3).
-
-    Reference:
-        https://docs.leggedrobotics.com/kindr/cheatsheet_latest.pdf
     """
     quat_diff = quat_mul(q1, quat_conjugate(q2))  # q1 * q2^-1
     re = quat_diff[:, 0]  # real part, q = [w, x, y, z] = [re, im]